CN109598938A - Based on unmanned plane the Urban Traf-fic Guidance System and city integrated intelligent transportation system - Google Patents
Based on unmanned plane the Urban Traf-fic Guidance System and city integrated intelligent transportation system Download PDFInfo
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- G—PHYSICS
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- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/04—Detecting movement of traffic to be counted or controlled using optical or ultrasonic detectors
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0108—Measuring and analyzing of parameters relative to traffic conditions based on the source of data
- G08G1/012—Measuring and analyzing of parameters relative to traffic conditions based on the source of data from other sources than vehicle or roadside beacons, e.g. mobile networks
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/017—Detecting movement of traffic to be counted or controlled identifying vehicles
- G08G1/0175—Detecting movement of traffic to be counted or controlled identifying vehicles by photographing vehicles, e.g. when violating traffic rules
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Abstract
The present invention is disclosed based on unmanned plane the Urban Traf-fic Guidance System and city integrated intelligent transportation system.The city integrated intelligent transportation system includes described based on unmanned plane the Urban Traf-fic Guidance System and intelligent vehicle level monitoring system.It is described to be used with unification based on unmanned plane urban traffic guidance method based on unmanned plane the Urban Traf-fic Guidance System.Covering surface is not wide enough by conjunction with traffic dispersion, can effectively solving unmanned plane in day of the present invention, not fast enough the problem of responding speed.Maximum feature of the invention is that unmanned plane flexibly freely flies, and can cruise at any time and monitor road traffic condition and illegal parking phenomenon.When accident occurs, unmanned plane can reach the scene of the accident before traffic police sets out with most fast speed and handle.The combination of unmanned plane and urban traffic control system will greatly promote the science and high efficiency of urban traffic control system, form a kind of smart city system for traffic guiding.
Description
Technical field
The present invention relates to urban traffic guidances to dredge technical field, specially a kind of to be based on unmanned plane urban traffic guidance system
System and city integrated intelligent transportation system.
Background technique
With increasing for private car quantity, traffic congestion becomes a big problem of puzzlement China most cities.And city
Traffic order is dredged substantially or is relied on traffic police and traffic lights sentry box and dredges, and management strength is insufficient, and covering surface is not wide enough, traffic
It is also relatively low to manage technological means.Especially when there is traffic accident, many accident both sides are in order to keep the scene intact, often
Entire road traffic is sacrificed, can at this moment responding speed is just determined solve congestion with prestissimo.City illegal parking
Problem is also a big reason of current city traffic congestion, is only difficult effective solution by the limited manpower supervision of traffic police, passes through
The cruise of unmanned plane can effectively save manpower, and more efficient disobey to road is stopped phenomenon and supervised.
Summary of the invention
The purpose of the present invention is to provide be based on unmanned plane the Urban Traf-fic Guidance System and city integrated intelligent transportation system,
To solve the problems mentioned in the above background technology.
To achieve the above object, it the invention provides the following technical scheme: being based on unmanned plane the Urban Traf-fic Guidance System, uses
Urban transportation is dredged in city integrated intelligent transportation system, the inducible system includes:
Monitoring unmanned unit comprising at least one unmanned plane body and the number being mounted on the unmanned plane body
According to module and camera, the unmanned plane body is located at the urban transportation overhead, and the camera is for acquiring urban traffic road
Traffic behavior and collected traffic behavior image data is exported by the data module；
Ground control cabinet is installed in the traffic police general bureau of city, and the ground control cabinet is for receiving and processing the number
According to the traffic behavior image data that module exports, the ground control cabinet is based on the traffic behavior image data and makes accordingly
Traffic guidance scheme, and the traffic guidance scheme is inputed into monitoring unmanned unit by the data module；
Cruiser carries receiving device and is used to receive the traffic guidance plan command that the ground control cabinet issues to refer to
The traffic police led on the cruiser carries out traffic dispersion, refers to receiving the traffic guidance scheme that the ground control cabinet issues
After order, the traffic police on cruiser described in the monitoring unmanned unit matching carries out traffic dispersion.
Preferably, the monitoring unmanned unit further include the GPS positioning module that is mounted on the unmanned plane body and
Loudspeaker；The GPS positioning module and loudspeaker are mutually indepedent, and the GPS positioning module is for determining the unmanned plane body
The geographical location of data is acquired, the loudspeaker propagandas directed to communicate for high-altitude and receives and convey the ground control cabinet and the patrol
The traffic instructions that traffic police on vehicle assigns.
Preferably, the monitoring unmanned unit further includes the image storage mould being mounted on the unmanned plane body and control
Circuit module processed；The GPS positioning module, loudspeaker, image storage mould and control circuit module are mutually indepedent, and described image is deposited
Storage module is used to temporarily store the information of the unmanned plane body acquisition, and the control circuit module is for controlling the unmanned plane
The remote control operation of body short distance.
Preferably, display is installed on the ground control cabinet, the traffic guidance side is shown by the display
Case.
The present invention also proposes to be used to cooperate described based on unmanned plane city based on unmanned plane urban traffic guidance method
System for traffic guiding, the abductive approach are further comprising the steps of:
S21, judge whether the ground control cabinet is connected to accident alarm phone, be, then follow the steps S2；
S22, the inducible system enter after emergency mode and execute step S3；
S23, near the scene of the accident, the cruiser transfers the unmanned plane body nearby and is rushing towards accident at the first time
Scene simultaneously utilizes the camera collection site image；
S24, the live image of acquisition is sent to the ground control cabinet by the data module；
S25, the ground control cabinet carry out accident fix duty to the scene of the accident and processing processing scheme are sent to institute
State monitoring unmanned unit and the cruiser；
Traffic police on S26, the cruiser carries out site traffic and dredges, and the unmanned plane body is cooperated by loudspeaker
Traffic police dredges.
Preferably, when the ground control cabinet is not connected to accident alarm phone, the abductive approach further include:
S27, the inducible system execute step S8 after entering normal mode；
S28, the image that the separated parking is acquired using the camera, then execute step S9；
The image of the separated parking of collection is transferred to institute by the data module by S29, the unmanned plane unit
Ground control cabinet is stated, processing scheme is issued the cruiser by the ground control cabinet；
Traffic police on S210, the cruiser is to separated parking processing.
Preferably, after the inducible system enters normal mode, the abductive approach further include:
S211, execution step S12 after the driving image on camera acquisition traffic route is utilized；
The driving image of collection is transferred to the ground by data module and controlled by S212, the unmanned plane unit
Platform；
S213, the ground control cabinet make traffic dispersion scheme according to the driving image and send out traffic dispersion scheme
The cruiser is given, the traffic police on the cruiser carries out site traffic commander.
Preferably, described that a kind of intelligent vehicle level monitoring system use of unification is also matched based on unmanned plane the Urban Traf-fic Guidance System
The separated parking on urban road is handled in the city integrated intelligent transportation system, the intelligent vehicle level monitoring system packet
It includes:
Four parking stall detecting sensor units, are separately mounted on parking stall, and in vehicle parking on the parking stall
When four wheels of the upper and described vehicle are located on the detecting sensor unit of four parking stalls, corresponding four of output stops
Car data w10, w20, w30, w40；
Parking space information plate acquires four parking data w of four parking stalls detecting sensor unit in real time10, w20,
w30, w40, and to the four parking data w of multiple groups acquired in one section of predetermined amount of time10, w20, w30, w40Data processing is carried out, with
It detects and whether vehicle is parked on the parking stall；The data processing of the parking space information plate using intelligent car position monitoring method power into
Row, the intelligent car position monitoring method the following steps are included:
Four current parking data w of S11, acquisition10, w20, w30, w40, wherein four parking data w10, w20,
w30, w40It is obtained respectively by four parking stall detecting sensor units, four parking stalls detecting sensor unit is separately mounted to stop
On parking stall, and vehicle parking is on the parking stall and four wheels of the vehicle are located at four parking stalls and perceive
When on sensor unit, corresponding four parking data w are exported10, w20, w30, w40；
Four parking data w that S12, judgement currently acquire10, w20, w30, w40With four parking data of last time acquisition
w10, w20, w30, w40It is whether consistent, if unanimously, thening follow the steps S13, otherwise return step S11；
S13, number Y count four primary, number Y characterization currently acquires parking data w10, w20, w30, w40And the last time
Four parking data w of acquisition10, w20, w30, w40Consistent number；
S14, judge whether number Y is more than or equal to M, it is to then follow the steps S15 that M, which is positive integer, otherwise return step S11；
Four parking data w that S15, judgement currently acquire10, w20, w30, w40Whether it is both greater than a predetermined threshold one, is
Then carry out step S16；
Four parking data w that S16, judgement currently acquire10, w20, w30, w40It is then whether in a calibration range one
Carry out step S17；
Four parking data w that S17, basis currently acquire10, w20, w30, w40Calculate the barycentric coodinates (W of the vehiclex,
Wy), and the barycentric coodinates of the vehicle are determined according to projection parking stall coordinate system, projection parking stall coordinate system is with described
The rectangular centre on parking stall is coordinate origin, and the x-axis of the projection parking stall coordinate system is parallel with rectangle wide direction, projection parking
The y-axis of position coordinate system is parallel with rectangle length direction；
S18, judge barycentric coodinates (Wx, Wy) whether in a calibration range two, it is to carry out step S19；
Vehicle is parked on the parking stall in S19, identification.
Preferably, the four parking data w currently acquired10, w20, w30, w40At least one of be less than the predetermined threshold one
When, the intelligent car position monitoring method further include:
S110, judgement, the four parking data w currently acquired10, w20, w30, w40Whether a predetermined threshold two is both less than,
It is to carry out step S111；
S111, assert on the parking stall without parking.
In addition the present invention also proposes that city integrated intelligent transportation system, the city integrated intelligent transportation system include described
Based on unmanned plane the Urban Traf-fic Guidance System and intelligent vehicle level monitoring system.
Compared with prior art, the beneficial effects of the present invention are:
1, day of the present invention is not wide enough by the way that unmanned plane in conjunction with traffic dispersion, can be solved effectively to covering surface, responding speed
Spend not fast enough problem.Maximum feature of the invention is that unmanned plane flexibly freely flies, and can cruise at any time and monitor road friendship
Logical situation and illegal parking phenomenon.When accident occurs, unmanned plane can reach accident before traffic police sets out with most fast speed
Scene is handled.The combination of unmanned plane and urban traffic control system will greatly promote the science of urban traffic control system
With high efficiency, a kind of smart city system for traffic guiding is formd.
2, four parking data that the present invention is also obtained by analysis four parking stall detecting sensor units of processing, and will obtain
Parking data range in four parking data and standard database that take compares whether vehicle is parked on parking stall to obtain.
Then logic judgment is carried out by parking space information plate LED unit and shows whether the vehicle being parked on the parking stall is violating the regulations stop
Which kind of state vehicle and the parking stall are in, and realize the aobvious control of dynamic parking space state to city parking position.On the one hand advantageous in this way
The burden checked is gone on patrol in mitigating traffic police, realizes that round-the-clock big region is disobeyed and stops monitoring and facilitate urban traffic control personal management again
Parking stall.On the other hand, being also beneficial to parking person clearly can learn whether current parking stall can stop, and avoid the occurrence of violating the regulations
Parking.
Detailed description of the invention
Fig. 1 is based on unmanned plane the Urban Traf-fic Guidance System structural schematic diagram；
Fig. 2 is based on unmanned plane urban traffic guidance method flow diagram；
Fig. 3 is intelligent car position monitoring method flow chart；
Fig. 4 is the calibration flow chart of intelligent car position parking data；
Fig. 5 is intelligent car position monitoring system structure diagram；
Fig. 6 is intelligent car position schematic diagram；
Fig. 7 is parking stall parking overhaul flow chart；
Fig. 8 is parking space information plate LED unit display logic flow chart；
Fig. 9 is that intelligent car position can dead ship condition schematic diagram；
Figure 10 is dead ship condition schematic diagram when vehicle is parked in intelligent car position；
Figure 11 is the status diagram that button is left in intelligent car position display payment；
Figure 12 is the schematic diagram that intelligent car position cancels state；
Figure 13 is status diagram when violation vehicle is parked in intelligent car position.
Figure 14 is the parking stall abnormality schematic diagram of intelligent car position.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
In actual life, the road traffic in city mainly carries out labor management and regulation by traffic police.The work of traffic police in this way
Make burden weight and working efficiency cannot be promoted effectively.For this purpose, the present invention is in view of the above-mentioned problems, propose that city integrated intelligence is handed over
Way system is used for intelligent management urban transportation.The city integrated intelligent transportation system includes described based on the friendship of unmanned plane city
Logical inducible system and intelligent vehicle level monitoring system.The city integrated intelligent transportation system is when in use, described to be based on nobody
Machine the Urban Traf-fic Guidance System need to be used with unification based on unmanned plane urban traffic guidance method.It below will be respectively to the base
It is explained in unmanned plane the Urban Traf-fic Guidance System and intelligent vehicle level monitoring system.
Embodiment 1
With reference to Fig. 1, it is based on unmanned plane the Urban Traf-fic Guidance System, city integrated intelligent transportation system is used for and city is handed over
It is logical to be dredged.The inducible system includes:
Monitoring unmanned unit comprising at least one unmanned plane body and the number being mounted on the unmanned plane body
According to module and camera.Wireless network card is also carried in unmanned plane body.Camera is acquired to the video in planning section by wireless network card
Ground control cabinet is transferred to after image information storage processing.The unmanned plane body is located at the urban transportation overhead, the phase
Machine is used to acquire the traffic behavior of urban traffic road and collected traffic behavior image data is passed through the data module
Output.The monitoring unmanned unit further includes the GPS positioning module being mounted on the unmanned plane body and loudspeaker.It is described
GPS positioning module and loudspeaker are mutually indepedent.Loudspeaker can be microphone.The GPS positioning module is for determining the unmanned plane
Body acquires the geographical location of data, and the loudspeaker propagandas directed to communicate for high-altitude and receives and convey the ground control cabinet and described
The traffic instructions that traffic police on cruiser assigns.The monitoring unmanned unit further includes being mounted on the unmanned plane body
Image stores mould and control circuit module.The GPS positioning module, loudspeaker, image storage mould and control circuit module are mutual
It is independent.Described image memory module is used to temporarily store the information of the unmanned plane body acquisition, and the control circuit module is used
In the remote control operation for controlling the unmanned plane body short distance.
Ground control cabinet is installed in the traffic police general bureau of city.Display is installed on the ground control cabinet, passes through institute
It states display and shows the traffic guidance scheme.The ground control cabinet is used to receive and process the friendship of the data module output
Logical state image data.The ground control cabinet is based on the traffic behavior image data and makes corresponding traffic guidance scheme,
And the traffic guidance scheme is inputed into monitoring unmanned unit by the data module.Specifically, ground control cabinet pair
The video image data received is handled, and is interpreted real-time traffic states, is provided corresponding traffic guidance scheme.When necessary,
Ground control cabinet transmits instructions to unmanned plane body again and executes relevant operation.Meanwhile ground control cabinet is the video figure received
As data, ground traffic control control centre is given by network transmission.Ground traffic control control centre receives video image data, passes through
The corresponding traffic information board of network real-time update and transportation network platform (including traffic radio and public platform).User can root
According to traffic information plate and transportation network platform, real-time travel route planning.
Cruiser carries receiving device and is used to receive the traffic guidance plan command that the ground control cabinet issues to refer to
The traffic police led on the cruiser carries out traffic dispersion, refers to receiving the traffic guidance scheme that the ground control cabinet issues
After order, the traffic police on cruiser described in the monitoring unmanned unit matching carries out traffic dispersion.Specifically, unmanned plane body can
By the microphone of carrying, can be propagandaed directed to communicate according to the instruction that cruiser console is issued, to peak congested link traffic guidance
And field accident processing.According to the image data that camera is shot, judges that vehicle is disobeyed and the problem violating the regulations such as stop.It is shot simultaneously according to history
Data propose Optimizing Suggestions to key road segment regional traffic planning.
Specifically, the monitoring unmanned unit, ground control cabinet and the cruiser carry out urban traffic guidance
Method is as follows:
With reference to Fig. 2, described lured based on unmanned plane urban transportation based on unmanned plane urban traffic guidance method for cooperating
Guiding systems use.
The abductive approach is further comprising the steps of:
S21, judge whether the ground control cabinet is connected to accident alarm phone, be, then follow the steps S2；It is no, then it holds
Row S27.
S22, the inducible system enter after emergency mode and execute step S3；
S23, near the scene of the accident, the cruiser transfers the unmanned plane body nearby and is rushing towards accident at the first time
Scene simultaneously utilizes the camera collection site image；
S24, the live image of acquisition is sent to the ground control cabinet by the data module；
S25, the ground control cabinet carry out accident fix duty to the scene of the accident and processing processing scheme are sent to institute
State monitoring unmanned unit and the cruiser；
Traffic police on S26, the cruiser carries out site traffic and dredges, and the unmanned plane body is cooperated by loudspeaker
Traffic police dredges.
S27, the inducible system execute step S8 after entering normal mode；
S28, the image that the separated parking is acquired using the camera, then execute step S9；
The image of the separated parking of collection is transferred to institute by the data module by S29, the unmanned plane unit
Ground control cabinet is stated, processing scheme is issued the cruiser by the ground control cabinet；
Traffic police on S210, the cruiser is to separated parking processing.
In some embodiments, when the ground control cabinet is not connected to accident alarm phone, that is, enter normal mode
After can also carry out following steps:
S211, execution step S12 after the driving image on camera acquisition traffic route is utilized；
The driving image of collection is transferred to the ground by data module and controlled by S212, the unmanned plane unit
Platform；
S213, the ground control cabinet make traffic dispersion scheme according to the driving image and send out traffic dispersion scheme
The cruiser is given, the traffic police on the cruiser carries out site traffic commander.
In the present embodiment, cooperates traffic police manually to carry out the induction of traffic by unmanned plane, realizes smart city traffic administration,
Solve the congestion problems of urban transportation.The present invention supervises traffic condition by unmanned plane, and overlayable supervision scope is more
Add flexibly extensively, responding speed when traffic accident, which occurs, faster, ensure that the traffic dispersion of higher efficiency, be conducive to building text
The Traffic Systems of bright, harmonious, wisdom, science.
Embodiment 2
It is described to be based on unmanned plane the Urban Traf-fic Guidance System also preferably to carry out intelligent management to urban traffic road
With a kind of intelligent vehicle level monitoring system of unification for the city integrated intelligent transportation system to the separated parking on urban road
Processing.And a kind of intelligent vehicle level monitoring system is in the specific implementation, and intelligent pipe need to be realized by intelligent car position monitoring method
Control urban traffic road.
With reference to Fig. 3, Fig. 4 and Fig. 6, a kind of intelligent car position monitoring method acquires four parking stalls perception sensing in real time
Four parking data w of device unit10, w20, w30, w40, and to four parking data of multiple groups acquired in one section of predetermined amount of time
w10, w20, w30, w40Data processing is carried out, whether vehicle is parked on the parking stall to detect.The intelligent car position monitoring method
Include the following steps.
Four current parking data w of S11, acquisition10, w20, w30, w40.Wherein, four parking data w10, w20,
w30, w40It is obtained respectively by four parking stall detecting sensor units.Four parking stalls detecting sensor unit is separately mounted to stop
On parking stall.And vehicle parking is on the parking stall and four wheels of the vehicle are located at four parking stalls and perceive
When on sensor unit, corresponding four parking data w are exported10, w20, w30, w40。
Four parking data w that S12, judgement currently acquire10, w20, w30, w40With four parking data of last time acquisition
w10, w20, w30, w40It is whether consistent, if unanimously, thening follow the steps S13, otherwise return step S11.
S13, number Y count four primary, number Y characterization currently acquires parking data w10, w20, w30, w40And the last time
Four parking data w of acquisition10, w20, w30, w40Consistent number.
S14, judge whether number Y is more than or equal to M, it is to then follow the steps S15 that M, which is positive integer, otherwise return step S11.
In the present embodiment, M is illustrated for 5.
Four parking data w that S15, judgement currently acquire10, w20, w30, w40Whether it is both greater than a predetermined threshold one, is
Then carry out step S16.
Four parking data w that S16, judgement currently acquire10, w20, w30, w40It is then whether in a calibration range one
Carry out step S17.
The determination method of the calibration range one is as follows: first acquiring four parking data w of a plurality of vehicles10, w20, w30,
w40, the mean value and standard deviation of each group parking data is then calculated, then determine the data area of calibration range one.
Such as according to the four of a plurality of vehicles parking data w10, w20, w30, w40, each group parking is calculated according to formula of variance
The mean value and standard deviation of data, then foundation Six Sigma principle determine the data area of calibration range one.
Four parking data w that S17, basis currently acquire10, w20, w30, w40Calculate the barycentric coodinates (W of the vehiclex,
Wy), and the barycentric coodinates of the vehicle are determined according to projection parking stall coordinate system, projection parking stall coordinate system is with described
The rectangular centre on parking stall is coordinate origin, and the x-axis of the projection parking stall coordinate system is parallel with rectangle wide direction, projection parking
The y-axis of position coordinate system is parallel with rectangle length direction (as shown in Figure 4).
S18, judge barycentric coodinates (Wx, Wy) whether in a calibration range two, it is to carry out step S19.
The determination method of the calibration range two is as follows:
According to formulaCalculate calibration range
Two data area.
Vehicle is parked on the parking stall in S19, identification.
Wherein, the four parking data w currently acquired10, w20, w30, w40At least one of be less than the predetermined threshold one
When, execute step S110: four parking data w that judgement currently acquires10, w20, w30, w40Whether a predetermined threshold is both less than
Two, it is to carry out step S111；The four parking data w currently acquired10, w20, w30, w40At least one of be greater than it is described predetermined
When threshold value two, step S112 is executed；The four parking data w currently acquired10, w20, w30, w40At least one of not in the mark
When determining in range one, step S112 is executed；As barycentric coodinates (Wx, Wy) not in the calibration range two when, execute step
S112。
Step S111: assert on the parking stall without parking.Step S112: it is different to assert that parking stall occurs in the parking stall
Often.
Following steps can be also added in above-mentioned monitoring method, can further judge the vehicle being parked on the parking stall
It whether is parking offense, to reach the burden for mitigating traffic police's inspection.Parking offense identification includes the following steps.
S113, when assert vehicle is parked on the parking stall when, judge whether the parking stall allows to stop in current time
Vehicle is to then follow the steps S114, no to then follow the steps S117.
S114, down time is exported after starting parking timing until receiving a vehicle leave message.
S115, according to the parking time charge, and show the down time and Parking Fee.
After one S116, reception payment information, starting step S11.
S117, the display vehicle are parking offense.
Whether there can be rule-breaking vehicle parking using the monitoring method of the present embodiment with the investigation of gamut, significantly reduce friendship
The work load of logical administrative staff.Simultaneously when using the intelligent car position monitoring method of the present embodiment, need first to formulate with reference to mark
Standard is first calibrated, steps are as follows (as shown in Figure 4) for specific formulation:
One, four parking data w when the parking of a plurality of standard vehicles are acquired10, w20, w30, w40；Standard type vehicle refer to
Vehicle contour dimension total length is 5.0m, and overall width 2.0m, total height is the station wagon of 2.2m.
Two, by multiple groups parking data w10, w20, w30, w40The mean value and standard of each group of data are calculated using formula of variance
Value.Then according to Six Sigma principle, each group of data range F1, i.e., the described calibration range one are determined.
Three, further according to formulaIt is calculated small
Drop shadow spread F2 of the center of gravity of type vehicle on the parking stall, i.e., the described calibration range two.
Four, by the base in one F1 of calibration range and two F2 of calibration range storage to standard database as comparative analysis
It is quasi-.
Embodiment 3
With reference to Fig. 5 and Fig. 6, a kind of intelligent vehicle level monitoring system is used to cooperate a kind of intelligence according to the embodiment 1
It can parking stall monitoring method.Intelligent vehicle level monitoring system includes four parking stall detecting sensor units, parking space information plate, parking stall parking
Line unit, four parking stall perception wire frame units and traffic police's management control center unit.Parking stall stop line unit, four parking stall perception
Wire frame unit and four parking stall detecting sensor unit composition parking stalls parking detection systems.It is comprehensive in conjunction with the section road conditions in city
Close the parking stall stop line size for delimiting parking stall stop line unit.A length of 6 meters of parking stall stop line, width are 2.4 meters.Further according to standard
The wheel position and wheel size of vehicle delimit 4 parking stalls in the stop line unit of parking stall and perceive wire frame unit.Parking stall perceives line
The size of frame unit is 0.8 meter of length, 0.4 meter wide.
Wherein, four parking stalls detecting sensor unit, is separately mounted on parking stall.I.e. four parking stall perception pass
Sensor cell is mounted in corresponding parking stall perception wire frame unit.And in vehicle parking on the parking stall and the vehicle
When four wheels are located on the detecting sensor unit of four parking stalls, corresponding four parking data w are exported10, w20,
w30, w40。
Parking space information plate acquires four parking data w of four parking stalls detecting sensor unit in real time10, w20,
w30, w40, and to the four parking data w of multiple groups acquired in one section of predetermined amount of time10, w20, w30, w40Data processing is carried out, with
It detects and whether vehicle is parked on the parking stall；The data processing step of the parking space information plate uses intelligence described in embodiment 1
It can parking stall monitoring method.
Traffic police's management control center unit is the warning message and transmission correction time function for completing to receive parking space information plate
Energy.
The parking space information plate further includes parking space information plate control unit, data storage and processing unit, timing unit, vehicle
Position information board LED unit, network communication unit and voice unit collectively constitute parking space state monitoring system.Wherein, parking stall
Information board control unit receives the data of parking stall detecting sensor, is stored by data and is handled with processing unit；Timing list
Member completion page time is shown and debugging functions；Parking space information plate LED unit is for showing current parking stall state and being stopped
The down time of vehicle and Parking Fee；Network communication unit, which has, to be completed information push and receives traffic police to manage in control
The function of heart unit information；Voice unit has the function of completing parking space state voice prompting.
In the present embodiment, parking stall detecting sensor unit is using weight sensor and is laid out in parking stall perception wire frame.Vehicle
Position detecting sensor unit is used to acquire vehicle weight information and be transferred to parking space information plate control unit by interface.Parking stall letter
The data that plate control unit receives parking stall detecting sensor are ceased, are handled by data storage and processing unit, judgement is current
Whether parking stall has vehicle parking.Its specific software judges that process is following (as shown in Figure 7):
1, Initialize installation is first carried out, and consistent label Y=0, stop sign P=0 are set；
2, four parking data of the vehicle on parking stall, w are acquired10, w20, w30, w40；
3, then judge whether four parking data collected are consistent with four parking data of last time acquisition:
If 3.1, consistent, recording consistent label Y is Y+1；
If 3.2, inconsistent, save four parking data collected and set consistent label Y=0.Then it adopts again
Collect parking data.
4, judge whether the consistent label Y of record is more than or equal to 5.If it is not, then resurveying stopping for vehicle on parking stall
Car data.If so, judging four data w collected10, w20, w30, w40Whether one of them described threshold value is both greater than:
If 4.1, four data w10, w20, w30, w40Both greater than one of them described threshold value then judges four collected again
Data w10, w20, w30, w40Whether F1 range is belonged to:
If 4.1.1, four data w10, w20, w30, w40All within the scope of F1, then by the formula in embodiment 1, calculate
Barycentric coodinates (the W to stop outx, Wy) value.Then (W described in judgementx, Wy) whether belong to F2 range:
A1, if so, determining there is vehicle parking on parking stall and stop sign P=1 is arranged；
A2, if it is not, then determining parking stall exception and stop sign P=2 being arranged.
If 4.1.2, four data w10, w20, w30, w40There are a data not within the scope of F1, then determines parking stall exception
And stop sign P=2 is set.
If 4.2, four data w10, w20, w30, w40There are a data to be less than one of them described threshold value, then judges institute again
Four data w of acquisition10, w20, w30, w40Whether another described threshold value is both less than:
If b1, four data w10, w20, w30, w40Both less than another described threshold value then determines not to be parked on parking stall
Simultaneously stop sign P=0 is arranged in vehicle；
If b2, four data w10, w20, w30, w40There are a data to be greater than another described threshold value, then determines parking stall
Simultaneously stop sign P=2 is arranged in exception.
Embodiment 4
Stopped on the state on parking stall described in the intelligent car position monitoring system detection using embodiment 2 and the parking stall
Vehicle whether be parking offense and shown using parking space information plate LED unit, to inform parking person.Wherein, parking stall
The specific display logic process of information board LED unit is following (as shown in Figure 8):
1) Initialize installation, is carried out to system；
2) the stop sign P that vehicle is parked on the parking stall, is obtained；
3), judge whether stop sign P is 0:
If 3-1), P is 0, judge whether parking stall described in current time can stop:
If A1, the parking stall can stop, parking space information plate LED unit shows that the parking stall can stop；
If A2, the parking stall cannot stop, parking space information plate LED unit shows that the parking stall cannot stop；
If 3-2), P is not 0, then judges whether stop sign P is 1:
If B1, P are not 1, determine the parking stall for parking stall exception.Parking space information plate LED unit shows parking stall
Abnormal, voice unit prompts parking stall abnormal.At the same time, and by parking stall exception information it is pushed to traffic police's management control center
Unit；
If B2, P are 1, then judge whether parking stall described in current time can stop.If cannot stop, sentence
The fixed vehicle is parking offense.Parking space information plate LED unit shows that parking offense, voice unit prompt vehicle violation parking.
At the same time, and by violation information it is pushed to traffic police's management control center unit；
4) when, the parking stall described in the current time can stop, then judge that the stop sign P of the parking stall last time is
It is no to be equal to 1:
If 4-1) last stop sign P is equal to 1, judge whether billing amount is greater than 0；
If 4-2) last stop sign P is not equal to 1, first start parking timing, then voice unit voice prompting
Start note to stop.Judge whether billing amount is greater than 0 again；
5), if billing amount is greater than 0, button is left in the display payment of parking space information plate LED unit.It presses payment and leaves button
When, then parking space information plate LED unit display payment, and voice unit carries out voice prompting.When not pressing payment and leaving button, then vehicle
Position information board LED unit shows that vehicle is currently parked in the parking stall；
6), if billing amount is not more than 0, parking space information plate LED unit shows that vehicle is currently parked in the parking stall.
By the state on the parking stall that above-mentioned software detection process detects, it is described in detail below:
(1) can dead ship condition (as shown in Figure 9), i.e., do not detect vehicle on current parking stall, and current time can be with
Parking.Parking space information plate LED unit show the number on parking stall, current time, can stop sign (circle), Freight Basis, pay
Take mode and can not down time；
(2) dead ship condition (as shown in Figure 10) detects vehicle on current parking stall.Parking space information plate LED unit is aobvious
Show parking bit number, current time, stop sign (circle in tick), starts to count between the stopping time, counted between the stopping time, current parking meter
Take and can not down time.If current parking charge is greater than zero (as shown in figure 11), show that button is left in payment.If
Button is left in selection payment, then enters the payment page, while paying in voice unit voice prompting three minutes；
(3) cancel state, i.e. current parking stall can not stop.Parking space information plate LED unit show parking stall numbering, it is current when
Between and parking stall cancel mark (circle in cross) (as shown in figure 12).If in the state that parking stall were cancelled, parking stall measure
There is vehicle parking on parking stall described in system detection, then parking space information plate LED unit shows parking offense and utilizes voice simultaneously
Unit carries out voice prompting (as shown in figure 13), then passes through network communication unit pushed information (such as: parking stall numbering, time violating the regulations)
Traffic police's management control center unit is given, traffic police is prompted to handle.
(4) monitoring of abnormality, i.e. current parking stall occurs abnormal.Parking space information plate LED unit show parking stall numbering, when
Preceding time and parking stall abnormality mark (beating exclamation in circle), and voice prompting is carried out (such as Figure 14 institute using voice unit simultaneously
Show), then traffic police's management control center unit is given by network communication unit pushed information (such as: parking stall numbering, abnormal time), it mentions
Show that traffic police is handled.
It although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
A variety of variations, modification, replacement can be carried out to these embodiments without departing from the principles and spirit of the present invention by understanding
And modification, the scope of the present invention is defined by the appended.
Claims (10)
1. being based on unmanned plane the Urban Traf-fic Guidance System, it is used for city integrated intelligent transportation system and urban transportation is dredged
It leads, which is characterized in that the inducible system includes:
Monitoring unmanned unit comprising at least one unmanned plane body and the data mould being mounted on the unmanned plane body
Block and camera, the unmanned plane body are located at the urban transportation overhead, and the camera is used to acquire the friendship of urban traffic road
Logical state is simultaneously exported collected traffic behavior image data by the data module；
Ground control cabinet is installed in the traffic police general bureau of city, and the ground control cabinet is for receiving and processing the data mould
The traffic behavior image data of block output, the ground control cabinet are based on the traffic behavior image data and make corresponding traffic
Induction scheme, and the traffic guidance scheme is inputed into monitoring unmanned unit by the data module；
Cruiser carries receiving device and is used to receive the traffic guidance plan command of the ground control cabinet sending to instruct
The traffic police stated on cruiser carries out traffic dispersion, in the traffic guidance plan command for receiving the ground control cabinet sending
Afterwards, the traffic police on cruiser described in the monitoring unmanned unit matching carries out traffic dispersion.
2. according to claim 1 be based on unmanned plane the Urban Traf-fic Guidance System, which is characterized in that the monitoring unmanned
Unit further includes the GPS positioning module being mounted on the unmanned plane body and loudspeaker；The GPS positioning module and loudspeaker
Independently of each other, the GPS positioning module is used to determine the geographical location of the unmanned plane body acquisition data, and the loudspeaker is used
In the traffic instructions that high-altitude propagandas directed to communicate and receives and convey the traffic police on the ground control cabinet and the cruiser to assign.
3. according to claim 1 be based on unmanned plane the Urban Traf-fic Guidance System, which is characterized in that the monitoring unmanned
Unit further includes the image storage mould being mounted on the unmanned plane body and control circuit module；The GPS positioning module, expansion
Sound device, image storage mould and control circuit module are mutually indepedent, and described image memory module is for temporarily storing the unmanned plane
The information of body acquisition, the control circuit module are used to control the remote control operation of the unmanned plane body short distance.
4. according to claim 1 be based on unmanned plane the Urban Traf-fic Guidance System, which is characterized in that the ground control cabinet
On display is installed, the traffic guidance scheme is shown by the display.
5. being based on unmanned plane urban traffic guidance method, it is used to cooperate according to any one of claims 1 to 4 be based on
Unmanned plane the Urban Traf-fic Guidance System, which is characterized in that the abductive approach is further comprising the steps of:
S21, judge whether the ground control cabinet is connected to accident alarm phone, be, then follow the steps S2；
S22, the inducible system enter after emergency mode and execute step S3；
S23, near the scene of the accident, the cruiser transfers the unmanned plane body nearby and is rushing towards the scene of the accident at the first time
And utilize the camera collection site image；
S24, the live image of acquisition is sent to the ground control cabinet by the data module；
S25, the ground control cabinet carry out accident fix duty to the scene of the accident and processing processing scheme are sent to the nothing
Man-machine monitoring unit and the cruiser；
Traffic police on S26, the cruiser carries out site traffic and dredges, and the unmanned plane body cooperates traffic police by loudspeaker
It dredges.
6. according to claim 5 be based on unmanned plane urban traffic guidance method, which is characterized in that when the ground controls
When platform is not connected to accident alarm phone, the abductive approach further include:
S27, the inducible system execute step S8 after entering normal mode；
S28, the image that the separated parking is acquired using the camera, then execute step S9；
The image of the separated parking of collection is transferred to describedly by S29, the unmanned plane unit by the data module
Processing scheme is issued the cruiser by face console, the ground control cabinet；
Traffic police on S210, the cruiser is to separated parking processing.
7. according to claim 5 be based on unmanned plane urban traffic guidance method, which is characterized in that when the inducible system
Into after normal mode, the abductive approach further include:
S211, execution step S12 after the driving image on camera acquisition traffic route is utilized；
The driving image of collection is transferred to the ground control cabinet by data module by S212, the unmanned plane unit；
S213, the ground control cabinet make traffic dispersion scheme according to the driving image and are sent to traffic dispersion scheme
The cruiser, the traffic police on the cruiser carry out site traffic commander.
8. based on unmanned plane the Urban Traf-fic Guidance System according to right 1, which is characterized in that described to be based on unmanned plane city
System for traffic guiding also matches a kind of intelligent vehicle level monitoring system of unification for the city integrated intelligent transportation system to city
Separated parking processing on road, the intelligent vehicle level monitoring system include:
Four parking stall detecting sensor units, are separately mounted on parking stall, and vehicle parking on the parking stall and
When four wheels of the vehicle are located on the detecting sensor unit of four parking stalls, corresponding four parkings number is exported
According to w10, w20, w30, w40；
Parking space information plate acquires four parking data w of four parking stalls detecting sensor unit in real time10, w20, w30,
w40, and to the four parking data w of multiple groups acquired in one section of predetermined amount of time10, w20, w30, w40Data processing is carried out, with detection
Whether vehicle is parked on the parking stall；The data processing of the parking space information plate is carried out using intelligent car position monitoring method power,
The intelligent car position monitoring method the following steps are included:
Four current parking data w of S11, acquisition10, w20, w30, w40, wherein four parking data w10, w20, w30, w40
It is obtained respectively by four parking stall detecting sensor units, four parking stalls detecting sensor unit is separately mounted to parking stall
On, and vehicle parking is on the parking stall and four wheels of the vehicle are located at four parking stalls perception sensing
When on device unit, corresponding four parking data w are exported10, w20, w30, w40；
Four parking data w that S12, judgement currently acquire10, w20, w30, w40With four parking data w of last time acquisition10,
w20, w30, w40It is whether consistent, if unanimously, thening follow the steps S13, otherwise return step S11；
S13, number Y count four primary, number Y characterization currently acquires parking data w10, w20, w30, w40It is acquired with the last time
Four parking data w10, w20, w30, w40Consistent number；
S14, judge whether number Y is more than or equal to M, it is to then follow the steps S15 that M, which is positive integer, otherwise return step S11；
Four parking data w that S15, judgement currently acquire10, w20, w30, w40Whether be both greater than a predetermined threshold one, be then into
Row step S16；
Four parking data w that S16, judgement currently acquire10, w20, w30, w40It is to carry out whether in a calibration range one
Step S17；
Four parking data w that S17, basis currently acquire10, w20, w30, w40Calculate the barycentric coodinates (W of the vehiclex, Wy), and
The barycentric coodinates of the vehicle are determined according to projection parking stall coordinate system, projection parking stall coordinate system is with the parking stall
Rectangular centre be coordinate origin, it is described projection parking stall coordinate system x-axis it is parallel with rectangle wide direction, projection parking stall coordinate
The y-axis of system is parallel with rectangle length direction；
S18, judge barycentric coodinates (Wx, Wy) whether in a calibration range two, it is to carry out step S19；
Vehicle is parked on the parking stall in S19, identification.
9. according to claim 8 be based on unmanned plane the Urban Traf-fic Guidance System, which is characterized in that four currently acquired
Parking data w10, w20, w30, w40At least one of be less than the predetermined threshold for the moment, the intelligent car position monitoring method is also wrapped
It includes:
S110, judgement, the four parking data w currently acquired10, w20, w30, w40Whether it is both less than a predetermined threshold two, is then
Carry out step S111；
S111, assert on the parking stall without parking.
10. city integrated intelligent transportation system, which is characterized in that the city integrated intelligent transportation system includes described based on nothing
Man-machine the Urban Traf-fic Guidance System and intelligent vehicle level monitoring system.
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